Semi-Autonomous Vehicle Navigation -- Driver Interaction

In this scenario, the driver attempts to perform an aggressive double lane change maneuver at 20 m/s (~44 mph) but is unable to keep the vehicle stable (shown silver here) while doing so. When the semi-autonomous controller is included in the loop (blue vehicle), it preempts the turn, moderates the drivers steering, and keeps the vehicle safely on the navigable road surface, all while allowing the driver significant freedom to control the vehicle as desired.